Attitude Calculation Method Based on CPF-EKF for Large Load Plant Protection UAV

doi:10.6041/j.issn.1000-1298.2018.06.003

CORC > 长春光学精密机械与物理研究所 > 中国科学院长春光学精密机械与物理研究所

	Attitude Calculation Method Based on CPF-EKF for Large Load Plant Protection UAV
	Wu, Helong; Bai, Yue; Pei, Xinbiao; Ma, Ping; Peng, Cheng; Gao, Huibin
刊名	Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery
	2018
卷号	49 期号:6 页码:24-31 and 77
关键词	Extended Kalman filters Antennas Flight dynamics Pesticides Unmanned aerial vehicles (UAV)
ISSN号	10001298
DOI	10.6041/j.issn.1000-1298.2018.06.003
英文摘要	In order to solve the shortcomings of traditional artificial spraying pesticides and more efficient prevention and treatment of diseases and pests, a pesticide spraying system based on sixteen-rotor unmanned aerial vehicle (UAV) was designed. The sixteen-rotor UAV's basic structure and attitude calculation method were explained. The whole system was full of 10 kg, cruising speed can reach 5 m/s, and the flight time was more than 10 min. The traditional extended Kalman filter (EKF) attitude calculation method cannot meet the work requirements under the strong vibration condition of the large load UAV. The attitude angle calculation accuracy was not high and the attitude angle divergence was easily caused. A CPF-EKF algorithm based on 20 dimensional state quantity was proposed. The bias error of gyroscopes, accelerometers and magnetometers were added as the state quantity, which made the optimal estimation of the attitude angle of the three axes more accurate. Complementary filtering (CPF) was treated as an EKF detection module. When the EKF had the divergence trend, the EKF was reset, thus the EKF divergence was avoided simply and efficiently. Using actual flight data to verify the algorithm, the static experiment showed that the precision of the roll angle and the pitch angle of the algorithm were 0.05, the precision of the yaw angle was0.2. The dynamic experiment showed that the precision of the roll angle and the pitch angle of the algorithm were0.1, the precision of the yaw angle was0.5, and the algorithm had good real-time performance. 2018, Chinese Society of Agricultural Machinery. All right reserved.
内容类型	期刊论文
源URL	[http://ir.ciomp.ac.cn/handle/181722/60579]
专题	中国科学院长春光学精密机械与物理研究所
推荐引用方式 GB/T 7714	Wu, Helong,Bai, Yue,Pei, Xinbiao,et al. Attitude Calculation Method Based on CPF-EKF for Large Load Plant Protection UAV[J]. Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,2018,49(6):24-31 and 77.
APA	Wu, Helong,Bai, Yue,Pei, Xinbiao,Ma, Ping,Peng, Cheng,&Gao, Huibin.(2018).Attitude Calculation Method Based on CPF-EKF for Large Load Plant Protection UAV.Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery,49(6),24-31 and 77.
MLA	Wu, Helong,et al."Attitude Calculation Method Based on CPF-EKF for Large Load Plant Protection UAV".Nongye Jixie Xuebao/Transactions of the Chinese Society for Agricultural Machinery 49.6(2018):24-31 and 77.